gtsam/.github/workflows/build-cibw.yml

# This workflow builds the Python wheels using cibuildwheel and uploads them to TestPyPI.
# It can be triggered on push to the develop branch or manually via Github Actions.

name: Build Wheels (cibuildwheel)

on:
  push:
    branches:
      - develop
  workflow_dispatch:

jobs:
  # Get the system time and store it in an output. This is used to tag the wheels.
  # This needs to be done in a separate job so that each matrix job in build_wheels can
  # access the same timestamp.
  get_system_time:
    name: Get System Time
    runs-on: ubuntu-latest
    outputs:
      timestamp: ${{ steps.get_time.outputs.timestamp }}
    steps:
      - name: Get system time
        id: get_time
        run: echo "timestamp=$(date +'%Y%m%d%H%M')" >> "$GITHUB_OUTPUT"

  build_wheels:
    name: Build Wheels
    needs: get_system_time
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        include:
          # Linux x86_64
          - os: ubuntu-latest
            python_version: "3.10"
            cibw_python_version: 310
            platform_id: manylinux_x86_64
            manylinux_image: manylinux2014
          - os: ubuntu-latest
            python_version: "3.11"
            cibw_python_version: 311
            platform_id: manylinux_x86_64
            manylinux_image: manylinux2014
          - os: ubuntu-latest
            python_version: "3.12"
            cibw_python_version: 312
            platform_id: manylinux_x86_64
            manylinux_image: manylinux2014
          - os: ubuntu-latest
            python_version: "3.13"
            cibw_python_version: 313
            platform_id: manylinux_x86_64
            manylinux_image: manylinux2014

          # Linux aarch64
          - os: ubuntu-24.04-arm
            python_version: "3.10"
            cibw_python_version: 310
            platform_id: manylinux_aarch64
            manylinux_image: manylinux2014
          - os: ubuntu-24.04-arm
            python_version: "3.11"
            cibw_python_version: 311
            platform_id: manylinux_aarch64
            manylinux_image: manylinux2014
          - os: ubuntu-24.04-arm
            python_version: "3.12"
            cibw_python_version: 312
            platform_id: manylinux_aarch64
            manylinux_image: manylinux2014
          - os: ubuntu-24.04-arm
            python_version: "3.13"
            cibw_python_version: 313
            platform_id: manylinux_aarch64
            manylinux_image: manylinux2014

          # MacOS x86_64
          - os: macos-13
            python_version: "3.10"
            cibw_python_version: 310
            platform_id: macosx_x86_64
          - os: macos-13
            python_version: "3.11"
            cibw_python_version: 311
            platform_id: macosx_x86_64
          - os: macos-13
            python_version: "3.12"
            cibw_python_version: 312
            platform_id: macosx_x86_64
          - os: macos-13
            python_version: "3.13"
            cibw_python_version: 313
            platform_id: macosx_x86_64

          # MacOS arm64
          - os: macos-14
            python_version: "3.10"
            cibw_python_version: 310
            platform_id: macosx_arm64
          - os: macos-14
            python_version: "3.11"
            cibw_python_version: 311
            platform_id: macosx_arm64
          - os: macos-14
            python_version: "3.12"
            cibw_python_version: 312
            platform_id: macosx_arm64
          - os: macos-14
            python_version: "3.13"
            cibw_python_version: 313
            platform_id: macosx_arm64

    steps:
      - name: Checkout
        uses: actions/checkout@v4

      - name: Set up Python ${{ matrix.python_version }}
        uses: actions/setup-python@v5
        with:
          python-version: ${{ matrix.python_version }}

      # Set the DEVELOP flag and the TIMESTAMP environment variables. This is used in the
      # top-level CMakeLists.txt to generate the GTSAM_VERSION_STRING.
      - name: Set Develop Flag
        run: |
          echo "DEVELOP=1" >> $GITHUB_ENV
          echo "TIMESTAMP=${{ needs.get_system_time.outputs.timestamp }}" >> $GITHUB_ENV          

      - name: Install Dependencies
        run: |
          python3 -m pip install -r python/dev_requirements.txt
          if [ "$RUNNER_OS" == "Linux" ]; then
            sudo apt-get install -y wget libicu-dev python3-pip python3-setuptools libboost-all-dev ninja-build
          elif [ "$RUNNER_OS" == "macOS" ]; then
            brew install wget icu4c boost ninja python-setuptools
          else
            echo "$RUNNER_OS not supported"
            exit 1
          fi          

      # We first build the Python wrapper module on the host machine. This is done because cibuildwheel
      # expects a setup.py file to be present in the project directory.
      #
      # The Python wrapper module is then rebuilt within the cibuildwheel container before building
      # the wheels to ensure platform compatibility.
      - name: Run CMake
        run: |
          cmake . -B build -DGTSAM_BUILD_PYTHON=1 -DGTSAM_PYTHON_VERSION=${{ matrix.python_version }}          

      # If on macOS, we previously installed boost using homebrew for the first build.
      # We need to uninstall it before building the wheels with cibuildwheel, which will
      # install boost from source.
      - name: Uninstall Boost (MacOS)
        if: runner.os == 'macOS'
        run: |
          brew uninstall boost          

      - name: Build and test wheels
        env:
          # Generate the platform identifier. See https://cibuildwheel.pypa.io/en/stable/options/#build-skip.
          CIBW_BUILD: cp${{ matrix.cibw_python_version }}-${{ matrix.platform_id }}
          CIBW_MANYLINUX_X86_64_IMAGE: ${{ matrix.manylinux_image }}
          CIBW_MANYLINUX_AARCH64_IMAGE: ${{ matrix.manylinux_image }}
          CIBW_ARCHS: all
          CIBW_ENVIRONMENT_PASS_LINUX: DEVELOP TIMESTAMP

          # Set the minimum required MacOS version for the wheels.
          MACOSX_DEPLOYMENT_TARGET: 10.15

          # Set DYLD_LIBRARY_PATH to REPAIR_LIBRARY_PATH, which is set in cibw_before_all.sh. REPAIR_LIBRARY_PATH
          # simply appends BOOST_LIBRARYDIR to the path, which is required during during link-time repair.
          CIBW_REPAIR_WHEEL_COMMAND_MACOS: DYLD_LIBRARY_PATH=$REPAIR_LIBRARY_PATH delocate-wheel --require-archs {delocate_archs} -w {dest_dir} -v {wheel}

          # Use build instead of pip wheel to build the wheels. This is recommended by PyPA.
          # See https://cibuildwheel.pypa.io/en/stable/options/#build-frontend.
          CIBW_BUILD_FRONTEND: "build"
          CIBW_BEFORE_ALL: bash .github/scripts/python_wheels/cibw_before_all.sh ${{ matrix.python_version }} {project}

          CIBW_BUILD_VERBOSITY: 1

        run: bash .github/scripts/python_wheels/build_wheels.sh

      - name: Store artifacts
        uses: actions/upload-artifact@v4
        with:
          name: cibw-wheels-cp${{ matrix.cibw_python_version }}-${{ matrix.platform_id }}
          path: wheelhouse/*.whl

  upload_all:
    name: Upload All
    needs: build_wheels
    runs-on: ubuntu-latest
    permissions:
      id-token: write
    steps:
      - name: Download Artifacts
        uses: actions/download-artifact@v4
        with:
          path: dist/
          merge-multiple: true

      - name: Publish to PyPI
        uses: pypa/gh-action-pypi-publish@release/v1
        with:
          verbose: true
          packages-dir: dist/
          # repository-url: https://test.pypi.org/legacy/